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/* Author: Ioan Sucan */

#include <moveit/constraint_sampler_manager_loader/constraint_sampler_manager_loader.hpp>
#include <pluginlib/class_loader.hpp>
#include <boost/tokenizer.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/parameter_value.hpp>
#include <memory>
#include <moveit/utils/logger.hpp>

namespace constraint_sampler_manager_loader
{

class ConstraintSamplerManagerLoader::Helper
{
public:
  Helper(const rclcpp::Node::SharedPtr& node, const constraint_samplers::ConstraintSamplerManagerPtr& csm)
    : node_(node), logger_(moveit::getLogger("moveit.ros.constraint_sampler_manager_loader"))
  {
    if (node_->has_parameter("constraint_samplers"))
    {
      std::string constraint_samplers;
      node_->get_parameter("constraint_samplers", constraint_samplers);
      try
      {
        constraint_sampler_plugin_loader_ =
            std::make_unique<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>>(
                "moveit_core", "constraint_samplers::ConstraintSamplerAllocator");
      }
      catch (pluginlib::PluginlibException& ex)
      {
        RCLCPP_ERROR(logger_, "Exception while creating constraint sampling plugin loader %s", ex.what());
        return;
      }
      boost::char_separator<char> sep(" ");
      boost::tokenizer<boost::char_separator<char>> tok(constraint_samplers, sep);
      for (boost::tokenizer<boost::char_separator<char>>::iterator beg = tok.begin(); beg != tok.end(); ++beg)
      {
        try
        {
          constraint_samplers::ConstraintSamplerAllocatorPtr csa =
              constraint_sampler_plugin_loader_->createUniqueInstance(*beg);
          csm->registerSamplerAllocator(csa);
          RCLCPP_INFO(logger_, "Loaded constraint sampling plugin %s", std::string(*beg).c_str());
        }
        catch (pluginlib::PluginlibException& ex)
        {
          RCLCPP_ERROR(logger_, "Exception while planning adapter plugin '%s': %s", std::string(*beg).c_str(),
                       ex.what());
        }
      }
    }
  }

private:
  const rclcpp::Node::SharedPtr node_;
  std::unique_ptr<pluginlib::ClassLoader<constraint_samplers::ConstraintSamplerAllocator>>
      constraint_sampler_plugin_loader_;
  rclcpp::Logger logger_;
};
ConstraintSamplerManagerLoader::ConstraintSamplerManagerLoader(
    const rclcpp::Node::SharedPtr& node, const constraint_samplers::ConstraintSamplerManagerPtr& csm)
  : constraint_sampler_manager_(csm ? csm : std::make_shared<constraint_samplers::ConstraintSamplerManager>())
  , impl_(std::make_shared<Helper>(node, constraint_sampler_manager_))
{
}
}  // namespace constraint_sampler_manager_loader
